User manual

PD-1021 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 2
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Table of Contents
1 Features ........................................................................................................................................................................... 4
2 Putting the PANdrive into Operation ..................................................................................................................... 6
2.1 Basic Set-Up .......................................................................................................................................................... 6
2.1.1 Connecting the Module ............................................................................................................................... 6
2.1.2 Start the TMCL-IDE Software Development Environment ................................................................. 7
2.2 Using TMCL Direct Mode .................................................................................................................................... 8
2.2.1 Important Motor Settings ........................................................................................................................... 9
2.3 Testing with a Simple TMCL Program ......................................................................................................... 10
3 TMCL and the TMCL-IDE: Introduction ................................................................................................................. 11
3.1 Binary Command Format ................................................................................................................................ 11
3.2 Reply Format ....................................................................................................................................................... 12
3.2.1 Status Codes ................................................................................................................................................. 13
3.3 Standalone Applications .................................................................................................................................. 13
3.4 TMCL Command Overview .............................................................................................................................. 13
3.4.1 TMCL Commands ......................................................................................................................................... 13
3.4.2 Commands Listed According to Subject Area .................................................................................... 14
3.5 Commands ........................................................................................................................................................... 18
3.5.1 ROR (rotate right) ....................................................................................................................................... 18
3.5.2 ROL (rotate left) ........................................................................................................................................... 19
3.5.3 MST (motor stop)......................................................................................................................................... 20
3.5.4 MVP (move to position) ............................................................................................................................ 21
3.5.5 SAP (set axis parameter) .......................................................................................................................... 23
3.5.6 GAP (get axis parameter) ......................................................................................................................... 24
3.5.7 STAP (store axis parameter) ..................................................................................................................... 25
3.5.8 RSAP (restore axis parameter) ................................................................................................................. 26
3.5.9 SGP (set global parameter) ...................................................................................................................... 27
3.5.10 GGP (get global parameter)...................................................................................................................... 28
3.5.11 STGP (store global parameter) ................................................................................................................ 29
3.5.12 RSGP (restore global parameter) ............................................................................................................ 30
3.5.13 RFS (reference search) ................................................................................................................................ 31
3.5.14 SIO (set output) ........................................................................................................................................... 32
3.5.15 GIO (get input/output) ............................................................................................................................... 34
3.5.16 CALC (calculate) ............................................................................................................................................ 36
3.5.17 COMP (compare)........................................................................................................................................... 37
3.5.18 JC (jump conditional) ................................................................................................................................. 38
3.5.19 JA (jump always) ......................................................................................................................................... 39
3.5.20 CSUB (call subroutine) ............................................................................................................................... 40
3.5.21 RSUB (return from subroutine) ................................................................................................................ 41
3.5.22 WAIT (wait for an event to occur) ......................................................................................................... 42
3.5.23 STOP (stop TMCL program execution) ................................................................................................... 43
3.5.24 SCO (set coordinate) ................................................................................................................................... 44
3.5.25 GCO (get coordinate) .................................................................................................................................. 45
3.5.26 CCO (capture coordinate) .......................................................................................................................... 46
3.5.27 ACO (accu to coordinate) .......................................................................................................................... 47
3.5.28 CALCX (calculate using the X register) .................................................................................................. 48
3.5.29 AAP (accumulator to axis parameter) .................................................................................................... 49
3.5.30 AGP (accumulator to global parameter) ............................................................................................... 50
3.5.31 CLE (clear error flags) ................................................................................................................................. 51
3.5.32 VECT (set interrupt vector) ........................................................................................................................ 52
3.5.33 EI (enable interrupt) ................................................................................................................................... 53
3.5.34 DI (disable interrupt) .................................................................................................................................. 54
3.5.35 RETI (return from interrupt) ..................................................................................................................... 55
3.5.36 Customer Specific TMCL Command Extension (UF0… UF7/user function) ................................... 56
3.5.37 Request Target Position Reached Event ............................................................................................... 56
3.5.38 TMCL Control Functions ............................................................................................................................. 57
4 Axis Parameters .......................................................................................................................................................... 59